Articulated device for robotic systems

Abstract

The first, second, and third rotation axes coincide in at least one point which defines the center of rotation of the articulated device.

The invention claimed is: 
     
       1. An articulated device for robotic systems, comprising:
 a first rigid body configured to rotate about a first rotation axis with respect to a rigid base body, 
 a second rigid body configured to rotate about a second rotation axis with respect to said first rigid body, and 
 a third rigid body configured to rotate about a third rotation axis with respect to said second rigid body, 
 wherein said first rotation axis, said second rotation axis, and said third rotation axis coincide in at least one point, which defines the center of rotation of said articulated device, and further comprising:
 first means for the rotation of said first rigid body with respect to said first rotation axis, 
 second means for the rotation of said second rigid body with respect to said second rotation axis, and 
 third means for the rotation of said third rigid body with respect to said third rotation axis. 
 
 
     
     
       2. The articulated device according to  claim 1 , wherein said second rotation axis is inclined with respect to said first rotation axis. 
     
     
       3. The articulated device according to  claim 1 , wherein said second rotation axis is inclined with respect to said first rotation axis by an angle comprised in the interval between 30° and 40°. 
     
     
       4. The articulated device according to  claim 1 , wherein said first rotation means comprise:
 a first actuator, which is coupled rigidly to said first rigid body, 
 a first pinion, which is rotated by said first actuator, and 
 a first ring gear, which is coupled rigidly to said rigid base body and is adapted to engage said first pinion, 
 the actuation of said first actuator being adapted to rotate said first rigid body with respect to said rigid base body, about said first rotation axis. 
 
     
     
       5. The articulated device according to  claim 4 , wherein said second rotation means comprise:
 a second actuator coupled rigidly to said first rigid body, and 
 a gear pair comprising a first gear rotated by said second actuator, by way of motion transmission means, and a second gear integral with said second rigid body, 
 the actuation of said second actuator being adapted to rotate said second rigid body with respect to said first rigid body, about said second rotation axis. 
 
     
     
       6. The articulated device according to  claim 4 , wherein said second rotation means comprise:
 a second actuator rigidly coupled to said first rigid body, and 
 a flexible hollow shaft, comprising a first end rotated by said second actuator by way of motion transmission means, and a second end, which rotates integrally with said second rigid body, 
 the actuation of said second actuator being adapted to rotate said second rigid body with respect to said first rigid body, about said second rotation axis. 
 
     
     
       7. The articulated device according to  claim 6 , wherein said third rotation means comprise:
 a third actuator coupled rigidly to said first rigid body, 
 a third pinion rotated by said third actuator, and 
 a gear adapted to engage said third pinion and is coupled rigidly to a further flexible hollow shaft, 
 said further flexible hollow shaft being coupled rotationally to said third rigid body, so that the rotation imparted by said third actuator is transmitted to said third rigid body in order to rotate said third rigid body about said third rotation axis. 
 
     
     
       8. The articulated device according to  claim 7 , wherein said first actuator, said second actuator, and said third actuator are accommodated in said first rigid body. 
     
     
       9. The articulated device according to  claim 1 , wherein said third rigid body is configured to be associated with a terminal operating instrument, said articulated device comprising means for the actuation of said terminal operating instrument. 
     
     
       10. The articulated device according to  claim 9 , wherein said actuation means comprise a fourth actuator which is accommodated in said first rigid body. 
     
     
       11. A robotic system comprising an articulated device according to  claim 1 .